CN1290676C

CN1290676C - Determing method of ground reaction force of legs of walker motion and joint torque

Info

Publication number: CN1290676C
Application number: CNB028128966A
Authority: CN
Inventors: 河合雅和; 池内康; 加藤久�
Original assignee: Honda Motor Co Ltd
Current assignee: Honda Motor Co Ltd
Priority date: 2001-06-27
Filing date: 2002-06-27
Publication date: 2006-12-20
Anticipated expiration: 2022-06-27
Also published as: EP1415770B1; CN1520350A; KR20040018390A; EP1415770A4; DE60237288D1; EP1415770A1; CA2451730C; KR100847319B1; US20040167641A1; JP2003089083A; WO2003002309A1; CA2451730A1; JP4188607B2; US6915230B2

Abstract

Method of estimating floor reactions of bipedal walking body, and method of estimating joint moments of bipedal walking body. Whether the motion of leg bodies (2) is in a single leg support state or two-leg support state is decided and when it is in a single leg support state, a floor reaction (F) acting on the leg body (2) contacting the ground is estimated on the basis of the equation of motion for the center of gravity (G0) of a bipedal walking body (1). When it is in a two-leg support state, floor reactions(Fr, Ff) acting on the respective leg bodies (2) are estimated on the basis of the equation of motion for the center of gravity (G0) of the bipedal walking body (1) and the relation between the components of floor reactions (Fr, Ff) of each leg body (2) and the position of the ankle (12) of each leg body (2) with respect to the center of gravity (G0) of the bipedal walking body (1). Further, on the basis of an inverse dynamics model using the estimates of the floor reactions (Fr, Ff), the moments acting on the knee joint (10) and hip joint (8) are estimated.

Description

The presuming method of Bipedal moving body suffered ground opposite force and joint moment

Technical field

The present invention relates to a kind of method that ground opposite force on the shank of the Bipedal moving body that affacts people or Bipedal robot etc. is inferred.And, also relate to a kind of presumed value of using its ground opposite force, and the method that the moment on the joint of the shank that affacts the Bipedal moving body is inferred.

Background technology

For example, in the action of auxiliary People's Bank of China being walked the walk supporting device of action, perhaps under the situation that the shift action of Bipedal robot is controlled, must hold the ground opposite force (specifically being meant the power on the landing part from the ground effects to the shank) on the shank that affacts people or Bipedal robot successively.By holding this ground opposite force, can hold moment on the joint of the shank that affacts the Bipedal moving body etc., like this according to the moment held etc., can determine the target drive torque in each joint of the target secondary power-assisted of walk supporting device or Bipedal robot etc.

As everyone knows, the gimmick as holding described ground opposite force for example has been disclosed in the spy and has opened on the 2000-249570 communique.In this technology, according to the variation of Bipedal moving body time dependent waveform generating period of ground opposite force of each shank when the common walking, thus with the ground opposite force of each shank as, include walking cycle 1/n (n=1,2 ...) the composite value (once in conjunction with) of a plurality of trigonometric functions of mutual different cycles hold.The value that the weight coefficient of each trigonometric function when this occasion, synthetic a plurality of trigonometric function has used the predefined setting of each Bipedal moving body or corresponding to landform its weight coefficient adjusted.

Yet, in this technology, owing to be that step of Bipedal moving body part or multistep part are held the ground opposite force of shank, therefore, under the occasion that the gait of Bipedal moving body changes successively, will be difficult to hold accurately the ground opposite force.In addition, the precision of the ground opposite force of holding in order to improve, must set the weight coefficient of described trigonometric function again by each Bipedal moving body, also will be and adjust corresponding to landform etc., therefore, the influence that the mobile environment of also just very difficult minimizing Bipedal moving body or the individual difference of Bipedal moving body are brought is so that be difficult to hold accurately the ground opposite force.

In addition, well-known, for example, under the occasion of Bipedal robot, the power sensor of 6 axial force sensors etc. is installed on the ankle or foot bottom of each shank, hold the ground opposite force by the output of this power sensor.And then, make the walking of Bipedal moving body being arranged on the opposite force meter of ground ground, hold the ground opposite force by the output of this ground opposite force meter.

Yet, in making the technology of sensor firmly, particularly when the occasion of the ground opposite force of the shank of wanting to hold the people, owing to the power sensor must be installed on people's the ankle or foot bottom, therefore, under common living environment, also just produced the problem that this power sensor hinders walking.In addition, for the Bipedal robot that uses ground opposite force meter, can only be under the environment that is provided with this ground opposite force meter, could hold the ground opposite force.

The present invention in view of the above-mentioned problems, purpose is to provide a kind of ground opposite force presuming method, this ground opposite force presuming method is to use fairly simple gimmick, just can high accuracy immediately hold the ground opposite force, be particularly suitable for using to affact as the ground opposite force on the people of Bipedal moving body hold aspect.

In addition, another object of the present invention is to provide a kind of joint moment presuming method of Bipedal moving body, the joint moment presuming method of this Bipedal moving body is to use the presumed value of its ground opposite force, can high accuracy immediately the moment on the joint of knee joint of affacting shank etc. be held.

Summary of the invention

At first, the basic ideas to the ground opposite force presuming method of Bipedal moving body of the present invention describe.

Motion state about the shank of Bipedal moving body, the motion state of the shank when for example being expert at action can be divided into: shown in Fig. 1 (a), the single leg bearing state that in two

shanks

2,2 of Bipedal moving body 1, has only one leg portion 2 (being the leg of the front side of direct of travel among the figure) kiss the earth, and shown in Fig. 1 (b), two leg bearing states of two

legs portion

2,2 equal kiss the earths.

At this, at first, under described single leg bearing state, relatively the equation of motion (specifically being meant the equation of motion about the translational motion of center of gravity) of the center of gravity of this Bipedal moving body of fastening of the fixing absolute coordinate in ground that moves of Bipedal moving body is following relational expression: the product of the quality of the acceleration of this center of gravity and Bipedal moving body equals to affact the gravity (quality * acceleration of gravity of=Bipedal moving body) on this center of gravity and the composite force of the ground opposite force from the grounding parts of the shank of ground effects to land.Particularly, for example shown in Fig. 1 (a), and on the fixing absolute coordinate system Cf with respect to ground A, if the acceleration a of the center of gravity G0 of Bipedal moving body 1 is set at ax, az respectively in the composition of X-direction (horizontal direction in the direction of advance of Bipedal moving body 1), Z-direction (vertical direction), and the ground opposite force F that will affact on the shank 2 (shank 2 of supporting leg one side) in landing is set at Fx, Fz respectively in the composition of X-direction, Z-direction, and then the equation of motion of center of gravity G0 is represented by following formula (1).

^T(Fx，Fz-M·g)＝M· ^T(ax，az)……(1)

(wherein, M: the quality of Bipedal moving body, g: acceleration of gravity)

In addition, the parenthesis part on both sides in the formula (1) ^TThe vector of () expression 2 compositions.In this manual, ^TThe mark of () form is represented vector.

Therefore, if held the acceleration a=of the center of gravity G0 of Bipedal moving body 1 ^T(ax az), uses the value of mass M of its acceleration a, Bipedal moving body 1 and the value of gravity acceleration g then, and according to following formula (2), just can obtain ground opposite force F= ^T(Fx, presumed value Fz).

^T(Fx，Fz)＝M· ^T(ax，az-g)……(2)

In this occasion, for the necessary mass M of presumed value that obtains ground opposite force F can be held by means such as instrumentation in advance.In addition, position or acceleration a about center of gravity G0, though will set forth in the back, but also can use the output of the sensor of sensor that the angle of bend (rotational angle) to each joint of Bipedal moving body 1 detects or acceleration transducer, rotary sensor etc., and, hold successively by known gimmick etc.

Then, the land equation of motion (specifically being meant the equation of motion about the translational motion of center of gravity) of center of gravity of the Bipedal moving body in the state of described two legs is following relational expression: the product of the quality of the acceleration of this center of gravity and Bipedal moving body equals to affact the composite force of the ground opposite force (corresponding respectively to 2 ground opposite forces of two shanks) on gravity (quality * acceleration of gravity of=Bipedal moving body) and the grounding parts that affacts two shanks from ground respectively on this center of gravity.Particularly, shown in Fig. 1 (b), in direction of advance towards Bipedal moving body 1, be set at Ffx, Ffz as if the coordinate composition of ground opposite force Ff on X, Z reference axis on the shank 2 that will affact the front side, and the coordinate composition of ground opposite force Fr on X, Z reference axis that will affact on the shank 2 of rear side is set at Frx, Frz, and then the equation of motion of center of gravity G0 is represented by following formula (3).

^T(Ffx+Frx，Ffz+Frz-M·g)＝M· ^T(ax，az)

……(3)

Wherein, the represented implication of ax, az, M, the g in the formula (3) is with foregoing identical.

On the other hand, finding according to people such as this case inventors, under two leg bearing states, affact ground opposite force Ff, Fr on each

shank

2,2 respectively shown in Fig. 1 (b), roughly can be considered as is towards the center of gravity G0 of Bipedal moving body 1 effect from privileged site 12f, 12r (for example, ankle) near the bottom of each shank 2,2.And, at this moment, in the position of described privileged site 12f, the 12r of each

shank

2,2 for described center of gravity G0 and affact to set up between ground opposite force Ff, the Fr on each

shank

2,2 certain relational expression is arranged, that is, this relational expression is the expression sensing (vector direction of the position of this particular portion 12f, 12r for described center of gravity G0) that links described center of gravity G0 and the particular portion 12f of each

shank

2,2, the line segment between the 12r, and affacts the identical relation of sensing of ground opposite force Ff, Fr on this each

shank

2,2.

Particularly, with reference to Fig. 1 (b), with the setting coordinate of the position of the center of gravity G0 on the described absolute coordinate system Cf is (Xg, Zg), be that (Xf Zf), is (Xr with the setting coordinate of the position of the privileged site 12r of rear side shank 2 with the setting coordinate of the position of the privileged site 12f of front side shank 2, Zr), then above-mentioned relational expression is following formula (4).

(Zf-Zg)/(Xf-Xg)＝Ffz/Ffx

(Zr-Zg)/(Xr-Xg)＝Frz/Frx

……(4)

And, according to formula (4) and formula (3), can obtain following formula (5).

Ffx＝M·{ΔXf·(ΔZr·ax-ΔXr·az

-ΔXr·g)}/(ΔXf·ΔZr-ΔXr·ΔZf)

Ffz＝M·{ΔZf·(ΔZr·ax-ΔXr·az

-ΔXr·g)}/(ΔXf·ΔZr-ΔXr·ΔZf)

Frx＝M·{ΔXr·(-ΔZf·ax+ΔXf·az

+ΔXf·g)}/(ΔXf·ΔZr-ΔXr·ΔZf)

Frz＝M·{ΔZr·(-ΔZf·ax+ΔXf·az

+ΔXf·g)}/(ΔXf·ΔZr-ΔXr·ΔZf)

……(5)

(wherein, Δ Zf=Xf-Xg, Δ Zf=Zf-Zg, Δ Xr=Xr-Xg, Δ Zr=Zr-Zg)

Therefore, if at acceleration a=to the center of gravity G0 of Bipedal moving body 1 ^T(ax, when az) holding, words also to holding with respect to the position (this position is represented by Δ Xf, Δ Zf, Δ Xr, Δ Zr in formula (5)) of the 12f of privileged site separately, the 12r of each

shank

2,2 of the center of gravity G0 of Bipedal moving body 1, use the value of mass M of value, Bipedal moving body 1 of the position of its acceleration a and privileged site 12f, 12r and the value of acceleration g, through type (5) can obtain the ground opposite force Ff=of every shank 2 ^T(Ffx, Ffz), Fr= ^T(Frx, presumed value Frz).

This occasion in order to obtain the necessary mass M of presumed value of ground opposite force Ff, Fr, can be held by means such as instrumentation in advance.In addition, about the position of the acceleration a of center of gravity G0 or center of gravity G0 and with respect to the described privileged site 12f of this center of gravity G0, the position of 12r, though will set forth in the back, but also can use the output of the sensor of sensor that the angle of bend (rotational angle) to each joint of Bipedal moving body 1 detects or acceleration transducer, rotary sensor etc., by known gimmick etc., hold successively.

State in the bright basic Chu above, the present invention is carried out following explanation.The ground opposite force presuming method of Bipedal moving body of the present invention, promptly, the method that ground opposite force on each shank that affacts the Bipedal moving body is inferred, for reaching above-mentioned purpose, it is characterized in that, have: the 1st step, the 1st step is: to the motion state of the shank of described Bipedal moving body is to be in the single leg bearing state that has only one leg portion wherein to land, or the two leg bearing states that two legs portion lands are judged; The 2nd step, the 2nd step is: when the position of the center of gravity of described Bipedal moving body is found the solution successively, also use the time series data of the position of this center of gravity, the acceleration of this center of gravity that the absolute coordinate that is fixed with respect to ground is fastened is found the solution successively; And the 3rd step, the 3rd step is: at least under described two leg bearing states, near the position of the described center of gravity of the privileged site the bottom that is set in advance in each shank is relatively found the solution successively.And, ground of the present invention opposite force presuming method is: when described Bipedal moving body is in single leg bearing state following time, based on by the acceleration of the quality of Bipedal moving body, acceleration of gravity, described center of gravity and the equation of motion that affacts this represented center of gravity of described ground opposite force on the shank in landing, and the presumed value that affacts the described ground opposite force on the shank in landing is found the solution successively; When described Bipedal moving body was in for 2 leg bearing state following times, based on quality by the Bipedal moving body, acceleration of gravity, the acceleration of described center of gravity, and the equation of motion that affacts this represented center of gravity of described ground opposite force on two shanks respectively, and following relational expression, and the presumed value that affacts the described ground opposite force on two shanks is respectively found the solution successively, and described relational expression is: the described ground opposite force that affacts on each shank of supposition is to do the time spent from the described privileged site of this shank towards the direction of described center of gravity, and the privileged site of each shank is with respect to the position of described center of gravity and affact relational expression between the described ground opposite force on this shank.

According to the present invention, in described the 1st step, the motion state of the shank of Bipedal moving body is in single leg bearing state or being in the both legs bearing state judges, by corresponding to the gimmick of bearing state separately, finds the solution the presumed value of described ground opposite force then.Promptly, when the Bipedal moving body is in single leg bearing state following time, above-mentioned equation of motion (with reference to formula (1)) based on the center of gravity of Bipedal moving body, and, find the solution the presumed value (with reference to formula (2)) of the described ground opposite force on the shank that affacts in landing according to the value of the acceleration of value, acceleration of gravity and the center of gravity of the quality of Bipedal moving body.

In addition, when the Bipedal moving body was in for 2 leg bearing state following times, based on the privileged site of the above-mentioned equation of motion (with reference to formula (3)) of the center of gravity of Bipedal moving body and each shank with respect to the position of described center of gravity and affact relational expression (formula (4)) between the described ground opposite force on this shank, and, find the solution the presumed value (with reference to formula (5)) of the ground opposite force that affacts on two shanks respectively according to the acceleration of quality, acceleration of gravity and the center of gravity of Bipedal moving body and with respect to the particular portion bit position of each shank of center of gravity.In addition, under single leg bearing state, the ground opposite force that affacts on the shank (shank that does not land) of a unsettled side is 0.

This occasion for the quality of the necessary Bipedal moving body of the presumed value of trying to achieve the ground opposite force, also can be held by means such as instrumentation in advance.In addition, about the position of the center of gravity of Bipedal moving body or acceleration, with respect to the particular portion bit position of each shank of this center of gravity, also can use sensor (potentiometer etc.) that the angle of bend (rotational angle) to each joint of Bipedal moving body detects or acceleration transducer, rotary sensor etc., more small-sized and be easier to be provided to the data of the output of the sensor on the Bipedal moving body again, immediately hold.

Therefore, according to ground of the present invention opposite force presuming method, not that the power sensor is installed on the ankle or foot bottom of Bipedal moving body, do not use ground opposite force meter yet, but, just can immediately hold the ground opposite force by fairly simple gimmick.

In the opposite force presuming method of ground of the present invention, the privileged site of described each shank is the ankle of this shank preferably.By such setting, particularly, can improve the land reliability of the aforementioned supposition in the state of two legs.Like this, not only can improve the precision of the presumed value of the ground opposite force in described single leg bearing state, can improve the precision of the presumed value of the ground opposite force in two leg bearing states equally.That is,, all can infer the ground opposite force accurately regardless of the motion state of shank.

In addition, in the opposite force presuming method of ground of the present invention, have: the step of the bottom of the close hip joint of trunk being carried out instrumentation in the acceleration of above-below direction, wherein said trunk is through the hip joint of each shank and be supported on described two shanks, in described the 1st step, when the bottom of described trunk rises to the threshold value of predefined regulation when above in the acceleration of above-below direction, beginning for described two leg bearing states, and be the end of described single leg bearing state simultaneously, in addition under described two leg bearing states, the presumed value of the described ground opposite force on affacting a side shank of wanting earlier built on stilts is reduced to the threshold value of predefined regulation when following, end for described two leg bearing states, and be the beginning of described single leg bearing state simultaneously, judge the motion state of described Bipedal moving body with this.

Promptly, when Bipedal moving body mobile (during walking), when the motion state of shank from single leg bearing state during to two leg bearing state transition because the landing of the shank of a unsettled side, the bottom of trunk will temporarily obviously become big in the acceleration (acceleration towards the top) of above-below direction.And this phenomenon does not generally produce in other motion state of shank.In addition, when the motion state of shank from two leg bearing states during to single leg bearing state transition because the shank of a side carries out liftoff action, the ground opposite force that affacts on its shank will be reduced to 0.Therefore, as mentioned above, by judging the motion state of shank, single leg bearing state or two leg bearing states can judge rightly.Its result can be under single leg bearing state and two leg bearing states changing accurately the calculating gimmick of the presumed value of the ground opposite force of equal state neither, and then can improve the precision of the presumed value of this ground opposite force opportunity.In addition, can pass through in the acceleration of above-below direction for the bottom of the necessary trunk of motion state of judging shank, for example degree of will speed up sensor is installed in the bottom of this trunk, and according to the output of this acceleration transducer, easily holds.

In addition, as the people, have the waist that is attached at through hip joint on two shanks and can tilt and be arranged under the occasion of the chest on the waist at described trunk with respect to this waist, the bottom of the trunk of institute's instrumentation in the preferably described waist of the acceleration of above-below direction in the acceleration of above-below direction.

In addition, in the opposite force presuming method of ground of the present invention, in described the 2nd step, gimmick as the acceleration of the position of the center of gravity of holding the Bipedal moving body and this center of gravity, though there is several different methods to consider, and can uses multiple all perception methods,, preferably, hold the position of this center of gravity and the acceleration of this center of gravity by following method.

Promptly, have respectively to the angle of inclination, angle of bend, and acceleration carries out the step of instrumentation, wherein, described angle of inclination is meant the angle of inclination that is supported in the trunk on described two shanks through the hip joint of each shank, described angle of bend is meant each shank is hip joint and kneed separately angle of bend at least, described acceleration is meant and is set in advance in the acceleration that the datum mark on the described Bipedal moving body is fastened in described absolute coordinate, in described the 2nd step, angle of inclination based on described trunk, described hip joint and kneed separately angle of bend, described Bipedal moving body represented the rigid body interlock model that forms with the union body of a plurality of rigid bodies, the quality of trying to achieve in advance with each corresponding portion of rigid body of the corresponding Bipedal moving body of each rigid body of this rigid body interlock model, and the position of the center of gravity of trying to achieve in advance of this rigid body correspondence portion in the rigid body correspondence portion, and the position with respect to the center of gravity of the described Bipedal moving body of described datum mark is found the solution successively, and simultaneously also based on the time series data of the position of its center of gravity, and the acceleration with respect to this center of gravity of its datum mark is found the solution successively, and according to acceleration with respect to this center of gravity of its datum mark, and the acceleration of this datum mark of fastening of described absolute coordinate, come the acceleration of described center of gravity that this absolute coordinate is fastened to find the solution.

Promptly, when on the Bipedal moving body, at random setting datum mark, roughly determine by the mutual posture relation the calf of trunk, the downside that begins from the hip joint of each shank to the huckle between knee joint and from knee joint with respect to the position of the center of gravity of the Bipedal moving body of this datum mark.And, by to the angle of inclination of trunk, carry out instrumentation, can hold its posture relation according to these instrumentation data with hip joint and kneed separately angle of bend.In addition, to illustrate in the back in detail, at this, the Bipedal moving body (for example is visualized as described rigid body interlock model, part (comprising trunk) with the upside of the hip joint of two shanks of Bipedal moving body, the huckle of each shank, and calf is considered as the model of rigid body) time, can be based on the quality of each rigid body correspondence portion of Bipedal moving body, the position of the center of gravity of this rigid body correspondence portion in each rigid body correspondence portion (specifically be meant with respect to each rigid body correspondence portion and the position of this rigid body correspondence portion on the fixing coordinate system), and above-mentioned posture relation, come the position with respect to the center of gravity of the Bipedal moving body of described datum mark is found the solution.In addition, with respect to the acceleration of this center of gravity of datum mark, be that 2 subdifferential values of the position by this center of gravity of being held from the time series data of the position of this center of gravity are tried to achieve.Therefore, acceleration by described datum mark that described absolute coordinate is fastened carries out instrumentation, the acceleration of the center of gravity of the Bipedal moving body that this absolute coordinate is fastened then can be used as with respect to the resultant acceleration of the acceleration of the acceleration of this center of gravity of this datum mark and this datum mark and tries to achieve.

This occasion, as mentioned above, angle of inclination for the necessary trunk of acceleration of holding the Bipedal moving body, can hold according to the output of the sensor that is installed in acceleration transducer on this trunk and rotary sensor or inclinometer etc., and the hip joint of each shank and kneed separately angle of bend, the output of the sensor of potentiometer that can be by being installed in certain position on the joint separately etc. is held.In addition, the acceleration of the described datum mark that described absolute coordinate is fastened can be held by being installed in the output that is the sensor of acceleration transducer on the part of one etc. with this datum mark.In addition, the position of the center of gravity of this rigid body correspondence portion in the quality of each rigid body correspondence portion of Bipedal moving body or each the rigid body correspondence portion can be held by means such as instrumentation in advance.

Therefore, sensor that will be more large-scale etc. is not equipped on the Bipedal moving body, just can immediately hold the position and the acceleration of the center of gravity of Bipedal moving body easily.

Like this, to the position of the center of gravity of Bipedal moving body or the occasion that acceleration is found the solution, preferably described datum mark is set on the described trunk.By such setting, because the sensor of the acceleration transducer that the acceleration of this datum mark that the described absolute coordinate of instrumentation can be fastened is used etc. is provided on the trunk, therefore can reduce the sensor that is equipped on the shank, but also can avoid this sensor to hinder the problem of the walking action of Bipedal moving body.

In addition, as the people, have the waist that is linked to described two shanks through hip joint and can tilt and be in chest on this waist, the preferably described waist in angle of inclination of the described trunk that uses for the position of finding the solution described center of gravity and the angle of inclination separately of chest with respect to this waist.And, especially under this occasion, described rigid body interlock model preferably will be in huckle, the described waist between calf, this knee joint and the described hip joint of kneed downside of each shank of described Bipedal moving body and be in the upside of this waist and include described chest represents the model that forms with rigid body respectively in interior upper body.

Thus, particularly under the occasion that the Bipedal moving body is behaved, can hold the position and the acceleration of its center of gravity accurately, and then, the precision of the presumed value of ground opposite force can be improved.

In addition, as mentioned above, according to angle of inclination of trunk etc., when finding the solution the occasion with respect to the position of the center of gravity of the Bipedal moving body of described datum mark, in described the 3rd step, by finding the solution described particular portion bit position with respect to each shank of this datum mark, can be in the hope of described particular portion bit position with respect to the center of gravity of Bipedal moving body.This occasion, different because of the desired location of described datum mark in order to try to achieve with respect to the necessary parameter of described particular portion bit position of datum mark.For example, described privileged site is the ankle of each shank, and when the occasion that described datum mark is set on the trunk, can (be meant at trunk and have under the occasion of described waist and chest based on the angle of inclination of this trunk, and the angle of inclination of this waist when being set in datum mark on the waist), hip joint and the huckle of kneed angle of bend and each shank and the size (length) of calf of each shank, find the solution the particular portion bit position of each shank for datum mark.

Then, the joint moment presuming method of Bipedal moving body of the present invention is to use the presumed value that affacts the ground opposite force on described each shank of trying to achieve successively by foregoing ground of the present invention opposite force presuming method, and the method that the moment at least one joint of each shank of affacting described Bipedal moving body is inferred.And, joint moment presuming method of the present invention is characterised in that, have following steps, that is, respectively to through the hip joint of each shank and be supported on the angle of inclination, each shank of the trunk on described two shanks be at least hip joint and kneed separately angle of bend and be set in advance in the step that acceleration that the datum mark on the described Bipedal moving body fastens in described absolute coordinate carries out instrumentation; Based on the hip joint of the angle of inclination of described trunk, described each shank and kneed separately angle of bend and described Bipedal moving body represented the rigid body interlock model that forms with the union body of a plurality of rigid bodies, and step to finding the solution successively with the angle of inclination of each corresponding portion of rigid body of the corresponding Bipedal moving body of each rigid body of this rigid body interlock model; Position based on the center of gravity of trying to achieve in advance of the quality of trying to achieve in advance of the angle of inclination of described each rigid body correspondence portion, each rigid body correspondence portion and this rigid body correspondence portion in each rigid body correspondence portion, and the position with respect to the center of gravity of each rigid body correspondence portion of described datum mark is found the solution successively, and simultaneously also based on the time series data of the position of the center of gravity of each rigid body correspondence portion, and step to finding the solution successively with respect to the acceleration of the center of gravity of each rigid body correspondence portion of this datum mark; According to respect to the acceleration of the center of gravity of each rigid body correspondence portion of this datum mark and the acceleration of the described datum mark that described absolute coordinate is fastened, and the step that the acceleration of the center of gravity of each rigid body correspondence portion that this absolute coordinate is fastened is found the solution successively; Based on the time series data at the angle of inclination of described each rigid body correspondence portion, and the step that the angular acceleration of each rigid body correspondence portion is found the solution successively; Based on as the angle of inclination of the huckle of each shank of the rigid body correspondence portion of described Bipedal moving body, with two angles of the kneed angle of bend of this shank at least one, and the step that the estimated position of the ground opposite force application point of each shank on this Bipedal moving body is found the solution successively; Use the presumed value of described ground opposite force, the estimated position of described ground opposite force application point, the acceleration of the center of gravity of each rigid body correspondence portion that described absolute coordinate is fastened and the angular acceleration of this rigid body correspondence portion, the angle of inclination of each rigid body correspondence portion, the quality and the size of each rigid body correspondence portion of trying to achieve in advance, the position of the center of gravity of this rigid body correspondence portion in each rigid body correspondence portion of trying to achieve in advance, and the moment of inertia of each rigid body correspondence portion of trying to achieve in advance, and based on inverse dynamics model, and the moment at least one joint of each shank of affacting described Bipedal moving body is inferred.

In addition, as previously described, described the 2nd step in the opposite force presuming method of described ground, in order to try to achieve position with respect to the center of gravity of the Bipedal moving body of datum mark etc., when the angle of inclination that has had trunk, hip joint on each shank and kneed separately angle of bend, and the acceleration fastened in described absolute coordinate of the datum mark on the Bipedal moving body is when carrying out the step of instrumentation respectively, also just there is no need once more these data to be carried out instrumentation, and described rigid body interlock model also can use and same rigid body interlock models of employed rigid body interlock model such as position for the center of gravity of finding the solution the Bipedal moving body.

In joint moment presuming method of the present invention, because instrumentation is carried out at the angle of inclination of trunk, hip joint and kneed separately angle of bend, so can be, hold the angle of inclination (this angle reflects the posture relation that each rigid body correspondence portion is mutual) of each rigid body correspondence portion of the Bipedal moving body of trunk, huckle and calf etc. according to these data.And, based on the quality of each rigid body correspondence portion, the position (specifically be meant with respect to each rigid body correspondence portion and the position of this rigid body correspondence portion on the fixing coordinate system) of center of gravity of this rigid body correspondence portion in each rigid body correspondence portion and the angle of inclination of above-mentioned each rigid body correspondence portion, can be in the hope of position with respect to the center of gravity of each rigid body correspondence portion of described datum mark.In addition, with respect to the acceleration of the center of gravity of each rigid body correspondence portion of datum mark, be to try to achieve as 2 subdifferential values of the position of this center of gravity of from the time series data of the position of this center of gravity, being held.Therefore, acceleration by described datum mark that described absolute coordinate is fastened carries out instrumentation, the acceleration of the center of gravity of each rigid body correspondence portion of the Bipedal moving body that this absolute coordinate is fastened then can be used as with respect to the resultant acceleration of the acceleration (acceleration that absolute coordinate is fastened) of the acceleration of this center of gravity of datum mark and described datum mark and tries to achieve.

In addition, as the 2 subdifferential values at this angle of inclination of from the time series data at the angle of inclination of each rigid body correspondence portion, being held, can also try to achieve the angular acceleration of each rigid body correspondence portion.

In addition, finding according to people such as this case inventors, the position of the ground opposite force application point of each shank on the Bipedal moving body, for example, has dependency relation closely between the position of the ground opposite force application point of this shank of the ankle of each shank and the kneed angle of bend as the angle of inclination of the huckle of each shank of the corresponding portion of rigid body of described Bipedal moving body or this shank.Therefore, can try to achieve the estimated position of the ground opposite force application point on the Bipedal moving body based in two angles of the angle of inclination of the huckle of this shank and kneed angle of bend at least one.

And, as mentioned above, after the estimated position of the angular acceleration of the acceleration of the center of gravity of each the rigid body correspondence portion that obtains the Bipedal moving body, this rigid body correspondence portion and ground opposite force application point, can be with the presumed value of the ground opposite force of trying to achieve by described ground opposite force presuming method, according to these data, and according to known so-called inverse dynamics model, and the knee joint that affacts each shank or the moment on the hip joint are inferred.Gimmick according to this inverse dynamics model, briefly, be meant that use about the equation of motion of the translational motion of the center of gravity of each rigid body correspondence portion of Bipedal moving body and about the rotational motion of this rigid body correspondence portion (for example, rotational motion around the rotation of the center of gravity of this rigid body correspondence portion) equation of motion, and to the moment on each joint of the Bipedal moving body that affacts each joint that is equivalent to rigid body interlock model, begin in turn to find the solution from the nearest point of distance ground opposite force application point.To set forth in the back in detail, for example, when each shank is occasion as the union body that huckle and calf are linked with the form of rigid body correspondence portion respectively, be adapted on the equation of motion about the translational motion of the center of gravity of the calf of each shank by value, can know the power (joint opposite force) on the knee joint that affacts this shank the quality of acceleration, the presumed value that affacts the ground opposite force on this shank and the calf of the center of gravity of this calf.In addition, also the presumed value of the ground opposite force of the estimated position of the ground opposite force application point of the angular acceleration of the calf by the joint opposite force on the knee joint that will affact this shank, this shank, this shank, this shank, be adapted on the equation of motion about the rotational motion of this calf with the position of center of gravity of this calf and the value at the angle of inclination of the value of the moment of inertia of the data value that is associated of the size (length) of this calf, this calf and this calf on this calf, can infer the kneed moment of this shank.

In addition, the acceleration of the center of gravity of this huckle, the value that affacts the quality of joint opposite force on the knee joint of this shank and this huckle are adapted on the equation of motion about the translational motion of the center of gravity of the huckle of each shank, can know the joint opposite force on the hip joint that affacts this shank.In addition, also by with affact respectively the huckle of the knee joint of this shank and the joint opposite force on the hip joint, this shank angular acceleration, be adapted on the equation of motion about the rotational motion of this huckle with the position of center of gravity of this huckle and the value at the angle of inclination of the value of the moment of inertia of the data value that is associated of the size (length) of this huckle, this huckle and this huckle on this huckle, can infer the moment of the hip joint of this shank.

According to joint moment presuming method of the present invention, infer moment on the joint that affacts shank by the presumed value of using the ground opposite force of trying to achieve according to foregoing ground of the present invention opposite force presuming method, can not will more large-scale sensor is provided on the Bipedal moving body, also can degree of precision immediately infers the moment on the joint that affacts shank.

Description of drawings

Fig. 1 is the schematic diagram that is used to illustrate the basic principle of ground of the present invention opposite force presuming method.

Fig. 2 is to constituting the schematic diagram that carries out medelling as the people of the Bipedal moving body in the one embodiment of the present invention and the device that is provided on this person.

Fig. 3 is the block diagram of function that is used for the arithmetic processing apparatus that device had of key diagram 2.

Fig. 4 is the schematic diagram that is illustrated in employed rigid body interlock model in the processing of arithmetic processing apparatus of Fig. 3.

Fig. 5 is the coordinate diagram of the dependency relation between the angle of inclination of the direction of advance composition of ground opposite force application point vector when being illustrated in common walking and huckle.

Fig. 6 is the coordinate diagram of the dependency relation between the angle of inclination of the vertical direction composition of ground opposite force application point vector when being illustrated in common walking and huckle.

Fig. 7 is the direction of advance composition of expression ground opposite force application point vector when sitting on the chair and the coordinate diagram of the dependency relation between the kneed angle of bend.

Fig. 8 is the direction of advance composition of expression ground opposite force application point vector when chair stands and the coordinate diagram of the dependency relation between the kneed angle of bend.

Fig. 9 is the coordinate diagram of the dependency relation between the angle of inclination of the direction of advance composition of expression ground opposite force application point vector when topping bar and huckle.

Figure 10 is the coordinate diagram of the dependency relation between the angle of inclination of the direction of advance composition of expression ground opposite force application point vector when getting out of a predicament or an embarrassing situation and huckle.

Figure 11 is the schematic diagram of processing of joint moment estimating mechanism that is used for the arithmetic processing apparatus of key diagram 3.

Figure 12 is the chart that the time dependent situation of presumed value of ground opposite force during to the common walking of trying to achieve by embodiments of the present invention exemplifies.

Figure 13 be to try to achieve by embodiments of the present invention top bar the time the ground time dependent situation of opposite force presumed value exemplify chart.

Figure 14 exemplifies chart to the time dependent situation of presumed value of ground opposite force when chair stands of trying to achieve by embodiments of the present invention.

Figure 15 is that the time dependent situation of presumed value of the moment of knee joint and hip joint during to the common walking of trying to achieve by embodiments of the present invention exemplifies chart.

The specific embodiment

Below, with reference to described Fig. 1 and Fig. 2 to Figure 10 one embodiment of the present invention is described.

Present embodiment is that ground of the present invention opposite force presuming method and joint moment presuming method are adapted to as the embodiment on the people of Bipedal moving body.

Shown in the medelling figure among Fig. 2, roughly to divide for people 1 formation, it has: the

shank

2,2 of pair of right and left, by the trunk 5 that waist 3 and chest 4 constitute, head 6, and the

arm

7,7 of pair of right and left.The waist 3 of trunk 5 is linked to two

shanks

2,2 through pair of right and left

hip joint

8,8, and trunk 5 is supported on two

shanks

2,2 like this.In addition, the chest 4 of trunk 5 is present in the upside of this waist 3 with the form of the place ahead one side that can tilt to people 1 for waist 3.And,

extended arm

7,7 from the left and right sides on the top of this chest 4, be supported with head 6 in the upper end of this chest 4.

The calf 11 that each

shank

2,2 has the huckle 9 that extends out from hip joint 8 and extends out through knee joint 10 from the front end of this huckle 9, and link through ankle (ankle-joint) 12 at the leading section of calf 11 foot bottom 13 is arranged.

In the present embodiment, for the ground opposite force on each shank 2 that affacts people 1 with this formation infer and affact inferring of moment on knee joint 10 and the hip joint 8, and on people 1, be equipped with following device.

That is, on the chest 4 of trunk 5, be equipped with: produce and follow chest 4 inclination the corresponding output of angular speed rotary sensor 14 (to call chest rotary sensor 14 in the following text), generation and chest 4 fore-and-aft direction the corresponding output of acceleration acceleration transducer 15 (to call acceleration transducer 15 before and after the chest in the following text), the arithmetic processing apparatus 16 that constitutes by CPU, RAM, ROM etc. and as the battery 17 of the power supply of this arithmetic processing apparatus 16 etc.This occasion, these chest rotary sensors 14, chest fore-and-aft direction acceleration transducer 15, arithmetic processing apparatus 16 and battery 17 are received to be contained in, for example through not shown belt etc. and be fixed in the storage member 18 of the shoulder formula knapsack shape on the chest 4, and be fixed on integratedly on the chest 4 through this storage member 18.

In addition, the represented acceleration of the output of acceleration transducer 15 more specifically before and after the chest, be meant the acceleration of the fore-and-aft direction of (direction vertical) on the direction of the horizontal cross-section of chest 4 with the axle center of chest 4, when standing under the state on level land with orthostatism people 1, acceleration before and after being meant on the horizontal direction (X-direction of the absolute coordinate system among Fig. 2), and depart from vertical direction (Z-direction that the absolute coordinate among Fig. 2 is fastened) and under the state that tilts at waist 3 or chest 4, be meant with chest 4 with respect to the angle of inclination of vertical direction with respect to the acceleration on the direction that horizontal direction was tilted.

In addition, on the waist 3 of trunk 5, be mounted with integratedly: the acceleration transducer 21 (to call acceleration transducer 21 about the waist in the following text) of the corresponding output of acceleration that produces and follow the above-below direction of the acceleration transducer 20 (to call acceleration transducer 20 before and after the waist in the following text) of the corresponding output of acceleration of fore-and-aft direction of rotary sensor 19 (to call waist rotary sensor 19 in the following text), generation and waist 3 of the corresponding output of angular speed of inclination of waist 3 and generation and waist 3 through the fixed mechanism of not shown belt etc.

At this, acceleration transducer 20 before and after the waist, more specifically same with acceleration transducer 15 before and after the chest, be the sensor that the acceleration to the fore-and-aft direction of (direction vertical with the axle center of waist 3) on the direction of the horizontal cross-section of waist 3 detects.In addition, waist is acceleration transducer 21 up and down, more specifically, is the sensor that the acceleration (this acceleration is perpendicular to the detected acceleration of acceleration transducer before and after the waist 20) to the above-below direction on the axis direction of waist 3 detects.In addition, acceleration transducer 21 about acceleration transducer 20 and the waist before and after the waist also can constitute integratedly by the acceleration transducer of two types.

In addition, on the hip joint 8 and knee joint 10 of each shank 2, generation and angle of bend Δ θ c separately, the hip joint angular transducer 22 and the knee joint angle sensor 23 of the corresponding output of Δ θ d are installed also.In addition, about hip joint angular transducer 22, though only in Fig. 2, shown with the hip joint 8 of the shank 2 of a side nearby (right side when the occasion in the place ahead of people 1) relevant hip joint angular transducer 22, but, on the hip joint 8 of the shank 2 of opposite side (towards the occasion in the place ahead of people 1 time left side), the hip joint angular transducer 22 concentric with the hip joint angular transducer 22 of a side nearby is installed also.

These angular transducers 22,23 for example can be the sensors that constitutes by potentiometer, and through the mechanism of not shown bandage parts etc. and be installed on each shank 2.At this, the detected angle of bend Δ θ c of each hip joint angular transducer 22 more specifically, be to concern that with the posture between the huckle 9 of waist 3 and each shank 2 posture that is in regulation (for example concerns, orthostatism state as people 1, the axle center of waist 3 and the axle center of huckle 9 almost are in parallel posture relation) time be benchmark, and be that the hip joint 8 of the huckle 9 of each shank 2 with respect to waist 3 for rotates the rotational angle of (the axle center rotation of the hip joint 8 on people 1 left and right directions).Equally, each knee joint angle sensor 23 detected angle of bend Δ θ d concerns that with the huckle 9 of each shank 2 and the posture between the calf 11 posture that is in regulation (for example concerns, the axle center of huckle 9 and the axle center of calf 11 almost are in parallel posture relation) time be benchmark, and be that the knee joint 10 of the calf 11 with respect to huckle 9 for rotates the rotational angle of (the axle center rotation of the knee joint 10 on people 1 left and right directions).

In addition, foregoing

sensor

14,15,19～23 is input into the mode of arithmetic processing apparatus 16 with the output with these sensors, is connected to arithmetic processing apparatus 16 via omitting illustrated holding wire.

Described arithmetic processing apparatus 16 has functional entity shown in Figure 3.Promptly, arithmetic processing apparatus 16 has leg exercise decision mechanism 24, this leg exercise decision mechanism 24 uses waists data of the detected data of acceleration transducer 21 and the presumed value of the ground opposite force of each shank 2 of trying to achieve by the ground opposite force estimating mechanism 36 that will be explained below up and down, and is that single leg bearing state (state of Fig. 1 (a)) or two leg bearing states (state of Fig. 1 (b)) are judged to the motion state of people 1 shank 2,2.In addition, arithmetic processing apparatus 16 has chest angle of inclination instrumentation mechanism 25 and waist angle of inclination instrumentation mechanism 26, wherein, chest angle of inclination instrumentation mechanism 25 uses the detected data of acceleration transducers 15 and chest rotary sensor before and after the chests 14, and to the tilt angle theta a on the absolute coordinate system Cf of chest 4 (with reference to Fig. 2, for example specifically be meant, a) carry out instrumentation with respect to the tilt angle theta of vertical direction; And waist angle of inclination instrumentation mechanism 26 uses the detected data of acceleration transducers 20 and waist rotary sensor before and after the waists 19, and to the tilt angle theta b of waist 3 on absolute coordinate system Cf (with reference to Fig. 2, for example specifically be meant, with respect to the tilt angle theta b of vertical direction) carry out instrumentation.

In addition, arithmetic processing apparatus 16 also has benchmark acceleration measuring mechanism 27, this benchmark acceleration measuring mechanism 27 use acceleration transducers 20 and waist before and after waists up and down the detected data of acceleration transducer 21, with the data of tilt angle theta b by waist angle of inclination instrumentation mechanism 26 detected waists 3, find the solution acceleration (translational acceleration) a on the absolute coordinate system Cf of initial point O ₀= ^T(a ₀X, a ₀Z), and this initial point O is the datum mark as the people in the present embodiment 1, and as shown in Figure 2, is the initial point that is set at the health coordinate system Cp (the xz coordinate among Fig. 2) on the waist 3.At this, health coordinate system Cp particularly, the center that for example is meant the line that links with the center separately with the hip joint about people 18,8 is as initial point O, and with vertical direction as the z direction of principal axis, and with people 1 towards the horizontal direction in the place ahead as the axial coordinate system of x (3 direction and described absolute coordinate system Cf are same coordinate system).

In addition, arithmetic processing apparatus 16 has shank posture calculation mechanism 28, this shank posture calculation mechanism 28 use the detected data of the hip joint angular transducer 22 of each shank 2 and knee joint angle sensor 23, with the data of tilt angle theta b by the detected waist 3 of waist angle of inclination instrumentation mechanism 26, the tilt angle theta c separately, the θ d that find the solution the huckle 9 of each shank 2 on the absolute coordinate system Cf and calf 11 are (with reference to Fig. 2, for example specifically be meant, with respect to tilt angle theta c, the θ d of vertical direction).

In addition, arithmetic processing apparatus 16 has each position of centre of gravity calculation mechanism 29, centre of body weight position calculation mechanism 30, ankle position calculation mechanism 31, and centre of body weight acceleration calculation mechanism 32, wherein, each position of centre of gravity calculation mechanism 29 is used by chest angle of inclination instrumentation mechanism 25, waist angle of inclination instrumentation mechanism 26 and shank posture calculation mechanism 28 and the tilt angle theta a of the chest 4 that obtains, the tilt angle theta b of waist 3, and the data of the tilt angle theta d of the tilt angle theta c of the huckle 9 of each shank 2 and calf 11, find the solution with will be in the position (specifically being meant the position of the center of gravity of each the corresponding portion of rigid body on the described health coordinate system Cp) of the center of gravity of each corresponding portion of rigid body of the corresponding people 1 of rigid body interlock model of back explanation; Centre of body weight position calculation mechanism 30 uses the data of position of the center of gravity of its each rigid body correspondence portions, finds the solution the position of center of gravity of the integral body of the people 1 on the above-mentioned health coordinate system Cp; The center of gravity G0 of 31 its people's 1 of use of ankle position calculation mechanism integral body is (with reference to Fig. 1, below fit body weight heart G0) position data and the huckle 9 of each shank 2 of obtaining by shank posture calculation mechanism 28 and the tilt angle theta c separately of calf 11, the data of θ d, find the solution the position for centre of body weight G0 (specifically being meant Δ Xf, Δ Zf, Δ Xr, Δ Zr in the described formula (5)) as the ankle 12 of each shank 2 of the privileged site of each shank 2 in the present embodiment; Centre of body weight acceleration calculation mechanism 32 uses the data of position of the centre of body weight G0 that obtains by centre of body weight position calculation mechanism 30 and the acceleration a of the initial point O on the health coordinate system Cp that obtains by described benchmark acceleration measuring mechanism 27 ₀Data, find the solution the acceleration a=of the centre of body weight G0 on the absolute coordinate system Cf ^T(ax, az) (with reference to Fig. 1).

In addition, arithmetic processing apparatus 16 also has each acceleration calculation mechanism of 33 of shank, each angular acceleration of shank calculates mechanism 34 and ground opposite force application point estimating mechanism 35, wherein, each acceleration calculation mechanism of of shank 33 uses the people's 1 who obtains by described each position of centre of gravity calculation mechanism 29 data of position (specifically being meant the position of the center of gravity of each the corresponding portion of rigid body that is associated with shank 2) of center of gravity of each rigid body correspondence portion and the acceleration a of the initial point O on the health coordinate system Cp that obtains by described benchmark acceleration measuring mechanism 27 ₀Data, the acceleration (translational acceleration) of finding the solution the center of gravity separately of the huckle 9 of each shank 2 on the absolute coordinate system Cf and calf 11; Each of shank angular acceleration calculates mechanism 34 and uses the huckle 9 of each shank 2 that obtains by described shank posture calculation mechanism 28 and the tilt angle theta c separately of calf 11, the data of θ d, finds the solution the huckle 9 of each shank 2 on the absolute coordinate system Cf and the angular acceleration of calf 11; Ground opposite force application point estimating mechanism 35 uses the data of the angle of bend Δ θ d of the tilt angle theta c of huckle 9 of each shank 2 that obtains by described shank posture calculation mechanism 28 or the knee joint 10 that measures by described knee joint angle sensor 23, infers the position of the ground opposite force application point of each shank 2 in landing.

In addition, arithmetic processing apparatus 16 has ground opposite force estimating mechanism 36, and joint moment estimating mechanism 37, wherein, ground opposite force estimating mechanism 36 uses the data of the acceleration a of the centre of body weight that obtains by described centre of body weight acceleration calculation mechanism 32, the data with respect to the position of centre of body weight of the ankle 12 of each shank 2 that obtains by described ankle position calculation mechanism 31, and the data of the judged result of the motion state of the shank 2 that obtains by described leg exercise decision mechanism 24, find the solution the presumed value that affacts the ground opposite force on each shank 2; Joint moment estimating mechanism 37 uses the data of the presumed value of this ground opposite force, the data of the acceleration of the huckle 9 of each shank 2 that obtains by each acceleration calculation mechanism of 33 of described shank and the center of gravity of calf 11, calculate the data of the angular acceleration of the huckle 9 of each shank 2 that mechanism 34 obtains and calf 11 by each of described shank angular acceleration, the data of the estimated position of the ground opposite force application point that obtains by described ground opposite force application point estimating mechanism 35, and the huckle 9 of each shank 2 that obtains by described shank posture calculation mechanism 28 and the tilt angle theta c separately of calf 11, the data of θ d are inferred the knee joint 10 that affacts each shank 2 respectively and the moment on the hip joint 8.

Below, describe about the more detailed contents processing of each mechanism of above-mentioned arithmetic processing apparatus 16 and the action of present embodiment in the lump.

In the present embodiment, for example, people 1 is when the motion of the shank 2 of walking etc., under the state that two

shanks

2,2 are landed, open the not shown power switch of arithmetic processing apparatus 16, then the processing of being undertaken by this arithmetic processing apparatus 16 is then carried out as described below like that successively in each cycle of regulation, and the presumed value etc. that affacts the ground opposite force on each shank 2 is also tried to achieve successively.

That is, at first, arithmetic processing apparatus 16 is carried out the processing of described leg exercise decision mechanism 24.In the processing of this leg exercise decision mechanism 24, in described each cycle, to by described waist up and down the detected waist 3 of acceleration transducer 21 the detection data towards the acceleration of top, compare with the threshold value of predefined regulation.When the detected value of this sensor surpasses its threshold value, be judged as the beginning of two leg bearing states shown in Fig. 1 (b), and be again the end of the single leg bearing state shown in Fig. 1 (a).Promptly, in people 1 walking, when from single leg bearing state during, because the landing of the shank 2 of a unsettled side to two leg bearing state transition, on near the waist the hip joint 83, produce roughly bigger acceleration (acceleration that under common single leg bearing state, does not produce) towards the top.Thus, described leg exercise decision mechanism 24 is by such as mentioned above, will be according to waist comparing of the waist 3 that obtains of acceleration transducer 21 up and down towards the detection data of the acceleration of top and the threshold value of regulation, judge beginning and the end of single leg bearing state of two leg bearing states.

In addition, in the processing of leg exercise decision mechanism 24, also carry out following comparison, promptly, under two leg bearing states, affact ground opposite force Ff, Fr on two shanks 2,2 respectively (in the middle of the presumed value of (with reference to Fig. 1 (b)), what try to achieve to affacting with respect to the ground opposite force Fr=on the shank 2 of the rear side of people 1 direction of advance by the ground opposite force estimating mechanism 35 that the back is illustrated ^T(Frx, presumed value Frz) (is meant that specifically arithmetic processing apparatus 16 is cycle of last time and absolute value=√ (Frx of the ground opposite force F r that tries to achieve ²+ Frz ²)), compare with the threshold value of predefined regulation (be roughly ' 0 ' on the occasion of).And, when following, be judged as the end of two leg bearing states, and be again the beginning of single leg bearing state to its threshold value when the presumed value of this ground opposite force Fr is low.In addition, in the present embodiment, the A-stage of the motion state of shank 2 is two leg bearing states, until affact the presumed value of the ground opposite force on the shank 2 of any side low to above-mentioned threshold value following before, leg exercise decision mechanism 24 all is judged as two leg bearing states with the motion state of shank 2.

In the processing of carrying out aforesaid leg exercise decision mechanism 24, arithmetic processing apparatus 16 is also carried out the processing of being undertaken by described chest angle of inclination instrumentation mechanism 25 and waist angle of inclination instrumentation mechanism 26.This occasion, in the processing of chest angle of inclination instrumentation mechanism 25, the acceleration of the fore-and-aft direction of the chest of import respectively according to acceleration transducer 15 before and after the chest and chest rotary sensor 14 4, reach the detection data of the angular speed of chest 4, and the known gimmick of the processing by carrying out so-called Kalman filter, come to find the solution successively the tilt angle theta a of the chest 4 on the absolute coordinate system Cf in described each cycle.Equally, in the processing of waist angle of inclination instrumentation mechanism 25, the acceleration of the fore-and-aft direction of the waist of importing respectively according to the past post-acceleration sensor 20 and waist rotary sensor 19 3, and the detection data of the angular speed of waist 3, and carry out the processing of so-called Kalman filter, find the solution the tilt angle theta b of the waist 3 on the absolute coordinate system Cf successively.At this, the chest 4 on the absolute coordinate system Cf and the tilt angle theta a of waist 3, θ b be in the present embodiment, for example the angle of inclination for vertical direction (gravity direction).

In addition, though for example the detection data of the angular speed that obtains by

chest rotary sensor

14,19 are carried out integration, can be in the hope of the angle of inclination of chest 4 or waist 3, but, as present embodiment, by using the processing of so-called Kalman filter, the tilt angle theta a of instrumentation chest 4 and waist 3, θ b accurately.

Then, arithmetic processing apparatus 16 is carried out the processing of described shank posture calculation mechanism 28 and the processing of described benchmark acceleration measuring mechanism 27.

In the processing of described shank posture calculation mechanism 28, the huckle 9 of each shank 2 on the absolute coordinate system Cf and the tilt angle theta c of calf 11, θ d (with reference to Fig. 2, with respect to the angle of inclination of vertical direction) can try to achieve as follows successively in described each cycle.Promptly, this sub-value of the tilt angle theta b of the waist 3 of trying to achieve according to this sub-values of the detection data of the angle of bend Δ θ c of the hip joint 8 that obtains by the described hip joint angular transducer 22 that is installed on the shank 2 and by described waist angle of inclination instrumentation mechanism 25, and, calculate the tilt angle theta c of the huckle 9 of each shank 2 by following formula (6).

θc＝θb+Δθc ……(6)

At this, tilt with respect to vertical direction at this waist 3, so that the upper end of this waist 3 also is projected into than the bottom under people 1 the occasion of the place ahead one side, the tilt angle theta b of waist 3 is negative value; And at huckle 9 with respect to the axle center of waist 3 and tilt so that the bottom of huckle 9 is projected under people 1 the occasion of the place ahead one side, the angle of bend Δ θ c of hip joint 8 is positive value.

In addition, according to this sub-value of the tilt angle theta c of the huckle 9 of being tried to achieve as mentioned above and by being installed in described knee joint angle sensor 23 on the shank 2 and this sub-value of the detection data of the angle of bend Δ θ d of detected knee joint 10, and, calculate the tilt angle theta d of the calf 11 of each shank 2 by following formula (7).

θd＝θc-Δθd ……(7)

At this, with respect to the axle center of huckle 9 and tilt under the occasion of the back side one side, the angle of bend of knee joint 10 is positive value in calf 11.

In addition, in the processing of described benchmark acceleration measuring mechanism 27, the acceleration a of the initial point O of described health coordinate system Cp on absolute coordinate system Cf ₀= ^T(a ₀X, a ₀Z) can try to achieve as follows.Promptly, this sub-value of the detection data of the acceleration of the fore-and-aft direction of the waist 3 that will obtain by acceleration transducer 20 before and after the waist is made as ap, and will by described waist up and down this sub-value of the detection data of the acceleration of the above-below direction of the waist 3 that obtains of acceleration transducer 21 be made as aq, this sub-value of the tilt angle theta b of the waist 3 that then detects data ap, aq and try to achieve by waist angle of inclination instrumentation mechanism 25 according to these, and by following formula (8), can be in the hope of the acceleration a on the absolute coordinate system Cf ₀= ^T(a ₀X, a ₀Z).

a ₀＝ ^T(a ₀x，a ₀z)

＝ ^T(ap·cosθb-aq·sinθb，ap·sinθb+aq·cosθb-g)

……(8)

Then, arithmetic processing apparatus 16 is carried out the processing of described each position of centre of gravity calculation mechanism 29, use is at the following rigid body interlock model that will illustrate, finds the solution the position (with respect to the position of the initial point of health coordinate system Cp) of center of gravity of each the rigid body correspondence portion of the people 1 on the described health coordinate system Cp.

As shown in Figure 4, employed in the present embodiment rigid body interlock model R is as the humanoid model that shows that links following rigid body with people 1, also be, described rigid body comprises: the rigid body R1, the R1 that are equivalent to the huckle 9 of shank 2, the rigid body R2, the R2 that are equivalent to calf 11, be equivalent to rigid body R3, the R3 of waist 3, and be equivalent to described chest 4,

arm

7,7, and the rigid body R4 of the part 38 that lumps together of head 6 (below deserve to be called body 38).This occasion, the linking part between the linking part between each rigid body R1 and rigid body R3 and each rigid body R1 and rigid body R2 is equivalent to hip joint 8, knee joint 10 respectively.In addition, the linking part between rigid body R3 and rigid body R4 is the inclination rotating fulcrum portion 39 of the chest for waist 34.

And, in the present embodiment, tried to achieve in advance with center of gravity G1 separately, G2, G3, the G4 position in the corresponding portion of each rigid body of the corresponding people's 1 of each rigid body R1～R4 of this rigid body interlock model R the corresponding portion of rigid body (huckle 9 of each shank 2 and calf 11, waist 3, upper body 38), and by memory storage in the not shown memory of arithmetic processing apparatus 16.

At this, center of gravity G1, the G2 of each the rigid body correspondence portion of memory storage in arithmetic processing apparatus 16, the position of G3, G4 are the positions on the coordinate system that is fixed with respect to each rigid body correspondence portion.This occasion as the data of the position of center of gravity G1, G2, G3, the G4 of each rigid body correspondence portion of expression, for example, can be used from the central point in the joint of an end of each rigid body correspondence portion to begin to count the distance on the axis direction of this rigid body correspondence portion.Particularly, for example, as shown in Figure 4, to be expression begin to count from the center of the hip joint 8 of this huckle 9 in the position of the center of gravity G1 of each huckle 9, on the axis direction of huckle 9 apart from the position at t1 place; To be expression begin to count from the center of the knee joint 10 of this calf 11 in the position of the center of gravity G2 of each calf 11, on the axis direction of calf 11 apart from the position at t2 place; These values apart from t1, t2 are tried to achieve in advance, and by memory storage in arithmetic processing apparatus 16.The position of center of gravity G3, G4 of rigid body correspondence portion about other is also same with it.

In addition, position about the center of gravity G4 of upper body 38, say closely, though can be subjected to being included in the influence of the action of the

arm

7,7 in this upper body 38, but, fasten because each arm 7, the 7 general axle center with respect to chest 4 when walking are in the pass, position of symmetry, so the change hardly of the position of the center of gravity G4 of upper body 38, the position of the center of gravity G4 of the upper body 38 during for example almost with the orthostatism state is a same position.

In addition, in the present embodiment, except the data that the position of center of gravity G1, the G2 of each rigid body correspondence portion (huckle 9 of each shank 2 and calf 11, waist 3, upper body 38), G3, G4 is represented, also can try to achieve in advance each rigid body correspondence portion data Quality, each rigid body correspondence portion size data (for example, the data of the length of each rigid body correspondence portion), and with its memory storage in arithmetic processing apparatus 16.

In addition, the quality of calf 11 is the quality that comprises foot bottom 13.In addition, as mentioned above, the data of memory storage in arithmetic processing apparatus 16 in advance, though can obtain by methods such as actual measurements,, also can be according to people 1 height or body weight etc., and push away side based on people's average statistics data.Generally, center of gravity G1, the G2 of above-mentioned each rigid body correspondence portion, the position of G3, G4 or quality, size and people's height or body weight have correlation, based on its dependency relation, and, can infer to degree of precision center of gravity G1, G2, the position of G3, G4, quality, the size of above-mentioned each rigid body correspondence portion according to people 1 the height and the data of body weight.

Described each position of centre of gravity calculation mechanism 29 is according to the data of aforesaid memory storage in advance in arithmetic processing apparatus 16, by described chest angle of inclination instrumentation mechanism 25 and waist angle of inclination instrumentation mechanism 26 and the tilt angle theta a of the chest 4 of trying to achieve respectively (tilt angle theta of=upper body 38 a) and this sub-value of the tilt angle theta b of waist 3, and the huckle 9 of each shank 2 of trying to achieve by described shank posture calculation mechanism 28 and the tilt angle theta c separately of calf 11, this sub-value of θ d, find the solution the center of gravity G1 of each the rigid body correspondence portion on the health coordinate system Cp (the xz coordinate among Fig. 4), G2, G3, the position of G4, and this health coordinate system C p is the coordinate system with the initial point O that is fixed on the waist 3.

This occasion, because the data of the tilt angle theta a～θ d of each rigid body correspondence portion (huckle 9 of each shank 2 and calf 11, waist 3, upper body 38) can be tried to achieve by above-mentioned method, therefore, according to the data of the size of the data of its tilt angle theta a～θ d and each rigid body correspondence portion, can know the position and the posture of each the rigid body correspondence portion on the health coordinate system Cp.Like this, also just can be in the hope of center of gravity G1, the G2 of each the rigid body correspondence portion on the health coordinate system Cp, the position of G3, G4.

Particularly, for example with reference to Fig. 4, describe about the shank 2 that is arranged in the left side of Fig. 4, because the angle of inclination (with respect to the angle of inclination of axle z direction) on the health coordinate system Cp of huckle 9 is θ c (this occasion, θ c＜0 in Fig. 4), so the coordinate of the position of the center of gravity G1 of the huckle 9 on the health coordinate system Cp is (t1sin θ c ,-t1cos θ c).In addition, because the angle of inclination on the health coordinate system Cp of calf 11 is θ d (θ d＜0 in Fig. 4), so as if the length setting with huckle 9 is Lc, then the coordinate of the position of the center of gravity G2 of the calf 11 on the health coordinate system Cp is (Lcsin θ c+t2sin θ d ,-Lccos θ c-t2cos θ d).About the center of gravity of the huckle 9 of the shank 2 of opposite side and calf 11 and waist 3 and upper body 38 also with above-mentioned similarly can in the hope of.

Like this, passing through each position of centre of gravity calculation mechanism 29, try to achieve after the position of center of gravity G1, G2, G3, G4 of each the rigid body correspondence portion on the health coordinate system Cp, arithmetic processing apparatus 16 is carried out the processing of described centre of body weight position calculation mechanism 30 again, use the data of position of center of gravity G1, G2, G3, G4 of each rigid body correspondence portion and the data Quality of each rigid body correspondence portion, find the solution the centre of body weight G0 of the people 1 on the health coordinate system Cp the position (xg, zg).

At this, if carry out following setting, promptly, position and the quality of the center of gravity G3 of the waist 3 on the health coordinate system Cp are set at (x3 respectively, z3), m3, position and the quality of the center of gravity G4 of upper body 38 are set at (x4 respectively, z4), m4, position and the quality of the center of gravity G1 of the huckle 9 of the shank 2 in left side that will be towards the occasion in the place ahead of people 1 time are set at (x1L respectively, z1L), m1L, position and the quality of the center of gravity G2 of the calf 11 of same shank 2 are set at (x2L respectively, z2L), m2L, position and the quality of the center of gravity G1 of the huckle 9 of the shank 2 on right side are set at respectively (x1R, z1R), m1R is set at (x2R respectively with position and the quality of the center of gravity G2 of the calf 11 of same shank 2, z2R), m2R, with people 1 body weight be set at M (=m1L+m2L+m1R+m2R+m3+m4), then (xg zg) can try to achieve according to following formula (9) in the position of the centre of body weight G0 of the people 1 on the health coordinate system Cp.

xg＝(m1L·x1L+m1R·x1R+m2L·x2L+m2R·x2R

+m3·x3+m4·x4)/M

zg＝(m1L·z1L+m1R·z1R+m2L·z2L+m2R·z2R

+m3·z3+m4·z4)/M

……(9)

Like this, after the processing of carrying out centre of body weight position calculation mechanism 30, arithmetic processing apparatus 16 is also carried out the processing of described centre of body weight acceleration calculation mechanism 32 and the processing of described ankle position calculation mechanism 31.

This occasion, in the processing of centre of body weight acceleration calculation mechanism 32, at first, position (the Xg of center of gravity G0 on the health coordinate system Cp that use was tried to achieve by centre of body weight position calculation mechanism 30 in described each cycle, Zg) time series data, (Xg, 2 subdifferential values Zg) that is to say the acceleration of the centre of body weight G0 for the initial point O on the health coordinate system Cp to find the solution the position of the center of gravity G0 on the health coordinate system Cp ^T(d ²Xg/dt ², d ²Zg/dt ²).By finding the solution this acceleration ^T(d ²Xg/dt ², d ²Zg/dt ²), with the health coordinate system Cp that tries to achieve by described benchmark acceleration measuring mechanism 27 on the acceleration a of initial point O on absolute coordinate system Cf ₀= ^T(a ₀X, a ₀Z) vector sum between can be in the hope of the acceleration a=of the centre of body weight G0 on the absolute coordinate system Cf ^T(ax, az).

In addition, in the processing of described ankle position calculation mechanism 31, at first, according to the huckle 9 of each shank 2 of trying to achieve and the tilt angle theta c separately of calf 11 by described shank posture calculation mechanism 28, this sub-value of the data of θ d, this sub-value of the data of the tilt angle theta b of the waist 3 of being tried to achieve by described waist angle of inclination instrumentation mechanism 26, and the data of the size (length) of this huckle 9 and calf 11, and by carrying out the same processing of processing with described each position of centre of gravity calculation mechanism 29, can be in the hope of the position of the ankle 12 of each shank 2 on the described health coordinate system Cp.Particularly, with reference to Fig. 4, describe about the shank 2 that is arranged in the left side of Fig. 4, if the length of calf 11 (from the center of knee joint 10 to the length of ankle 12) is set at Ld, then the coordinate of the position of the ankle 12 on the health coordinate system Cp (x12, z12) be (Lcsin θ c+Ldsin θ d ,-Lccos θ c-Ldcos θ d) (wherein, θ c＜0 in Fig. 4, θ d＜0).Shank 2 about opposite side is also same with it.

And, coordinate (x12 according to the position on the health coordinate system Cp of this ankle 12, z12) and the position (xg that tries to achieve the centre of body weight G0 on the health coordinate system Cp by described centre of body weight position calculation mechanism 30, zg) this sub-value of data can be in the hope of the position vector with respect to the ankle 12 of each shank 2 of centre of body weight G0 ^T(x12-xg, z12-zg), the Δ Xf in the promptly described formula (5), Δ Zf, Δ Xr, Δ Zr.

Then, the processing of the described ground of computing processing sector 16 implementations opposite force estimating mechanism 36 is as follows.Promptly, in this is handled, judging in this cycle that by described leg exercise decision mechanism 24 motion state of the shank 2 that obtains is under the occasion of single leg bearing state, the acceleration a=of the centre of body weight G0 on the absolute coordinate system Cf that tries to achieve according to the value (these values are remembered in advance in arithmetic processing apparatus 16) of people 1 body weight M and gravity acceleration g and by described centre of body weight acceleration calculation mechanism 32 ^T(ax, this sub-value az), and by described formula (2), can be in the hope of affacting the ground opposite force F=on the shank 2 in landing ^T(Fx, presumed value Fz).In addition, at this moment, the ground opposite force that affacts on the shank 2 (shank 2 of a unsettled side) of the side that do not land is ^T(0,0).

In addition, judging in this cycle that by described leg exercise decision mechanism 24 motion state of the shank 2 that obtains is under the occasion of two leg bearing states, the acceleration a=of the centre of body weight G0 on the absolute coordinate system Cf that tries to achieve according to people 1 body weight M and gravity acceleration g, by described centre of body weight acceleration calculation mechanism 32 ^T(ax, az) this sub-value and the data (these sub-values of the data of the Δ Xf in the formula (5), Δ Zf, Δ Xr, Δ Zr) that obtain by described ankle position calculation mechanism 31 with respect to this sub-value of the position of the ankle 12 of each shank 2 of centre of body weight G0, and by described formula (5), can be in the hope of the ground opposite force Ff=on each shank 2 ^T(Ffx, Ffz), Fr= ^T(Frx, presumed value Frz).

On the other hand, the processing of arithmetic processing apparatus 16 and practiced aforesaid centre of body weight position calculation mechanism 30, centre of body weight acceleration calculation mechanism 32, ankle position calculation mechanism 31 and ground opposite force estimating mechanism 36 mutually concurrently, the processing of also carry out each acceleration calculation mechanism of 33 of described shank, each angular acceleration of shank calculating mechanism 34 and ground opposite force application point estimating mechanism 35.

This occasion, in the processing of each acceleration calculation mechanism of 33 of described shank, same with the processing of described centre of body weight acceleration calculation mechanism 32, at first, use described each cycle by described each position of centre of gravity calculation mechanism 29 try to achieve as the huckle 9 of the rigid body correspondence portion of each shank 2 on the health coordinate system Cp and the center of gravity G1 of calf 11, the time series data separately of the position of G2, find the solution the huckle 9 on the health coordinate system Cp and the center of gravity G1 of calf 11, the 2 subdifferential values separately of the position of G2 that is to say the huckle 9 on the health coordinate system Cp and the center of gravity G1 of calf 11, the acceleration separately of G2 (with respect to the acceleration of the initial point O of health coordinate system Cp).And, by find the solution this separately acceleration, with the acceleration a of waist 3 on absolute coordinate system Cf that tries to achieve by described benchmark acceleration measuring mechanism 27 ₀= ^T(a ₀X, a ₀Z) vector sum between, can in the hope of huckle on the absolute coordinate system Cf 9 and calf 11 separately acceleration (specifically being meant the coordinate composition on the absolute coordinate system Cf of this acceleration).

In addition, calculate in the processing of mechanism 34 at each angular acceleration of described shank, the huckle 9 of each shank 2 that use was tried to achieve by described shank posture calculation mechanism 28 in described each cycle and the tilt angle theta c separately of calf 11, the time series data of θ d, can that is to say the angular acceleration separately of huckle 9 and calf 11 in the hope of the 2 subdifferential values of tilt angle theta c separately, the θ d of this huckle 9 and calf 11.

In addition, in the processing of described ground opposite force application point estimating mechanism 35, describe about the shank in landing 2, this sub-value according to the tilt angle theta c of the huckle 9 of each shank 2 of for example trying to achieve by described shank posture calculation mechanism 28, and based on as Fig. 5 and the dependency relation of predesignating shown in Figure 6, and will be from the ankle 12 of this shank 2 towards the vector of the ground of the foot bottom 13 of this shank 2 opposite force application point (can be considered as affacting locational all the ground opposite forces of landing of foot bottom 13 concentrated a bit) (with respect to the position of the ground opposite force application point of ankle 12.To call ground opposite force application point vector in the following text), find the solution as the data of position of this ground opposite force application point of expression.

Promptly, finding according to people such as this case inventors, have more significant correlation between the angle of bend Δ θ d of the tilt angle theta c of the huckle 9 of the shank 2 that lands or knee joint 10 and the ground opposite force application point, for example, described ground opposite force application point vector for the tilt angle theta c of huckle 9, particularly, the composition of the composition of this ground opposite force application point vector on people 1 the direction of advance (X-direction) and this ground opposite force application point vector on the vertical direction (Z-direction) is as Fig. 5 and changing as shown in Figure 6.At this, the negative tilt angle theta c of huckle 9 is meant at huckle 9 to tilt with respect to the axle center of waist 3, the angle of (for example, the shank 2 on the right side when the occasion in the place ahead of people 1 among Fig. 2) so that shank 2 when reaching people 1 rear side; Positive tilt angle theta c is meant at huckle 9 with respect to the axle center of waist 3 and tilt, the angle of (for example, the shank 2 in the left side when the occasion in the place ahead of people 1 among Fig. 2) so that shank 2 when being in people 1 front side.

Therefore, in the present embodiment, the tilt angle theta c that makes with huckle 9 is approximate expression parameter and dependency relation presentation graphs 5 and Fig. 6, and with this approximate expression in advance memory storage in arithmetic processing apparatus 16.And, in the processing of described ground opposite force application point estimating mechanism 35, the above-mentioned approximate expression of this sub-value substitution of the tilt angle theta c of the huckle 9 that will try to achieve by described shank posture calculation mechanism 28, find the solution described ground opposite force application point vector (specifically be meant this ground opposite force application point vector in X-direction, and the composition of Z-direction).

At this, as Fig. 5 and shown in Figure 6, have in the minimizing dependency relation at the tilt angle theta c of huckle 9, even the tilt angle theta c of huckle 9 is same angle, but in the minimizing process and increase process of tilt angle theta c, the value of ground opposite force application point vector is also inequality.Therefore, in the present embodiment, when making above-mentioned approximate expression, after the heel of foot bottom 13 landed, until the transition region of the described dependency relation between the tiptoe built on stilts is divided into following 3 phases, the tilt angle theta c that is huckle 9 is that the 1st positive phase (is the phase of a1 among Fig. 5, among Fig. 6 the phase of b1), the tilt angle theta c of huckle 9 also is that the inclination angle speed of huckle 9 (is the phase of a2 for the 2nd negative phase among Fig. 5 for the pace of change of the tilt angle theta c of negative and huckle 9, among Fig. 6 the phase of b2), and the tilt angle theta c of huckle 9 is that the 3rd positive phase (is the phase of a3 among Fig. 5 for the inclination angle speed of negative and huckle 9, among Fig. 6 the phase of b3), about ground opposite force application point vector in X-direction, and the composition separately of Z-direction, then can each be obtained mutually approx by utilizing same or different functions.When with ground opposite force application point vector when the composition of X-direction is set at px, and the approximate expression of the phase after the 1st phase a1 in the dependency relation of Fig. 5 and the 2nd phase a2 merged then can be by for example 6 order polynomial function (x of following form ₁～x ₇Be constant value) represent.

px＝x ₁·θc ⁶+x ₂·θc ⁵+x ₃·θc ⁴+x ₄·θc ³+x ₅·θc ²+x ₆·θc+x ₇

In addition, the approximate expression of the 3rd phase a3 in the dependency relation of Fig. 5 can be by for example 4 order polynomial function (x of following form ₈～x ₁₂Be constant value) represent.

px＝x ₈·θc ⁴+x ₉·θc ³+x ₁₀·θc ²+x ₁₁·θc+x ₁₂

In addition, when with ground opposite force application point vector when the composition of Z-direction is set at pz, and the approximate expression of the phase that the 1st phase b1 in the dependency relation of Fig. 6 and the 2nd phase b2 are merged can be by for example 6 order polynomial function (z of following form ₁～z ₇Be constant value) represent.

pz＝z ₁·θc ⁶+z ₂·θc ⁵+z ₃·θc ⁴+z ₄·θc ³+z ₅·θc ²+z ₆·θc+z ₇

In addition, the approximate expression of the 3rd phase b3 in the dependency relation of Fig. 6 can be by for example 3 order polynomial function (z of following form ₈～z ₁₁Be constant value) represent.

pz＝z ₈·θc ³+z ₉·θc ²+z ₁₀·θc+z ₁₁

And, when finding the solution ground opposite force application point vector, in positive and negative identification the to the tilt angle theta c of huckle 9, also the positive and negative of inclination angle speed of the huckle 9 that a subdifferential of the time series data of the tilt angle theta c by huckle 9 is calculated distinguished.In addition, positive and negative according to the positive and negative of these identified tilt angle theta c and inclination angle speed again, judge to be in which phase now, then in the approximate expression of the phase that is judged out by this sub-value substitution, thereby calculate ground opposite force application point vector the tilt angle theta c of huckle 9.Like this, can distinguish the ground opposite force application point vector of tilt angle theta c in the minimizing process of huckle 9 value, with the increase process of the tilt angle theta c of huckle 9 in the value of ground opposite force application point vector, and can calculate it.

In addition, in the present embodiment, though be to use multinomial, and the tilt angle theta c of the huckle 9 of shank 2 and the dependency relation between the opposite force application point vector of ground be similar to, to obtain ground opposite force application point vector, but, also can pass through tables of data, and Fig. 5 and dependency relation shown in Figure 6 are carried out memory storage, and use this tables of data, come from the tilt angle theta c of huckle 9, obtain ground opposite force application point vector.

In addition, the position of ground opposite force application point and land in the angle of bend of knee joint 10 of shank 2 between also have correlation, the tilt angle theta c that can replace huckle 9, according to the angle of bend Δ θ d of the knee joint 10 by knee joint angle root sensor 23 and instrumentation, infer the position of ground opposite force application point; Perhaps, also can use both of angle of bend Δ θ d of the tilt angle theta c of huckle 9 and knee joint 10,, infer the position of ground opposite force application point by drawing etc.

In addition, when people 1 sits on state on the chair or on being sitting in chair and stands up, set up Fig. 7 (when sitting on the chair), Fig. 8 arranged the dependency relation shown in (when chair stands) between the angle of bend Δ θ d of the position of ground opposite force application point and knee joint 10; When topping bar or get out of a predicament or an embarrassing situation, setting up between the position of ground opposite force application point and the tilt angle theta c of huckle 9 has the dependency relation shown in Fig. 9 (when topping bar), Figure 10 (when getting out of a predicament or an embarrassing situation).Therefore, sitting on the chair and when chair is stood up, angle of bend Δ θ d according to knee joint 10, and, can infer the position of ground opposite force application point, in addition based on the dependency relation of Fig. 7, Fig. 8, when up/down steps, according to the angle of bend Δ θ d of knee joint 10, and, can infer the position of ground opposite force application point based on the dependency relation of Fig. 9, Figure 10.

After the position of inferring aforesaid ground opposite force application point, then, arithmetic processing apparatus 16 is carried out the processing of described joint moment estimating mechanism 37, to find the solution the knee joint 10 that affacts each shank 2 and the moment on the hip joint 8.This processing is to use this sub-value of the data of trying to achieve respectively by described ground opposite force estimating mechanism 36, each acceleration calculation mechanism of 33 of shank, each angular acceleration calculating mechanism 34 of of shank, ground opposite force application point estimating mechanism 35 and described shank posture calculation mechanism 28, and carries out based on so-called inverse dynamics model.This inverse dynamics model be to use about the equation of motion of the translational motion of each rigid body correspondence portion of people 1, with about the equation of motion of rotational motion, begin in turn to find the solution the model that affacts the moment on this joint from the nearest joint of opposite force application point, distance ground, in the present embodiment, successively the knee joint 10 that affacts each shank 2 and the moment on the hip joint 8 are found the solution.

In addition, more specifically, with reference to Figure 11, at first, calf 11 about each shank 2 describes, by the composition mark on the absolute coordinate system Cf, the translational acceleration that will affact power (joint opposite force) on the ankle 12 of leading section of calf 11 respectively, affacts the center of gravity G2 of power (joint opposite force) on the part of knee joint 10 of calf 11 and calf 11 is set at ^T(F ₁X, F ₁Z), ^T(F ₂X, F ₂Z), ^T(a ₂X, a ₂Z), and with the quality settings of this calf 11 is m ₂At this moment, the equation of motion about the translational motion of the center of gravity G2 of calf 11 is following formula (10).

^T(m ₂·a ₂x，m ₂·a ₂z)＝ ^T(F ₁x-F ₂x，F ₁z-F ₂z-m ₂·g)

So,

^T(F ₂x，F ₂z)＝ ^T(F ₁x-m ₂·a ₂x，F ₁z-m ₂·a ₂z-m ₂·g)

……(10)

At this, the acceleration of the center of gravity G 2 of calf 11 ^T(a ₂X, a ₂Z) can try to achieve by each acceleration calculation mechanism of 33 of described shank.In addition, affact joint opposite force on the ankle 12 of leading section of calf 11 ^T(F ₁X, F ₁The presumed value of the ground opposite force of trying to achieve by ground opposite force estimating mechanism 36 when z) being approximately equal to occasion about shank 2 with this calf 11.More specifically, under single leg bearing state, when this shank 2 be in land in the time, the joint opposite force ^T(F ₁X, F ₁Z) the ground opposite force for trying to achieve by described formula (2) ^T(Fx, Fz), and when this shank 2 is the shank of a unsettled side, ^T(F ₁X, F ₁Z)= ^T(0,0).In addition, under two leg bearing states, when this shank 2 is the shank of the rear side towards the occasion of people 1 direction of advance the time, the joint opposite force ^T(F ₁X, F ₁Z) be the ground opposite force of described formula (5) ^T(Frx, Frz), and when this shank 2 was the shank of front side, this joint opposite force was the ground opposite force of described formula (5) ^T(Ffx, Ffz).

Therefore, affact joint opposite force on the knee joint 10 of each shank 2 ^T(F ₂X, F ₂Z), can be according to the acceleration of the center of gravity G2 of the calf 11 of trying to achieve by each acceleration calculation mechanism of 33 of shank ^T(a ₂X, a ₂Z) data, try to achieve by ground opposite force estimating mechanism 36 the ground opposite force (= ^T(F ₁X, F ₁The quality m of data z)), the calf of trying to achieve in advance 11 ₂Data and the value of gravity acceleration g, and try to achieve by above-mentioned formula (10).

In addition, with reference to Figure 11, the moment that affacts on the ankle 12 of leading section of calf 11 is set at M ₁, the moment that affacts on the part of knee joint 10 of calf 11 is set at M ₂, the moment of inertia that will rotate around the center of gravity G2 of calf 11 is set at I _G2, the angular acceleration that will rotate around the center of gravity G2 of calf 11 is set at α ₂In addition, corresponding to described Fig. 4, if the distance between the center of the center of gravity G2 of calf 11 and knee joint 10 is set at t ₂, the center of gravity G2 of calf 11 and the distance between the ankle 12 are set at t ₂' (=Ld-t ₂), then the equation of motion about the rotational motion of rotating around the center of gravity G2 of calf 11 is following formula (11).

I _G2·α ₂＝M ₁-M ₂+F ₁x·t ₂’·cosθd-F ₁z·t ₂’·sinθd

+F ₂x·t ₂·cosθd-F ₂z·t ₂·sinθd

So,

M ₂＝M ₁-I _G2·α ₂+F ₁x·t ₂’·cosθd-F ₁z·t ₂’·sinθd

+F ₂x·t ₂·cosθd-F ₂z·t ₂·sinθd

……(11)

At this, the M in the formula (11) ₁Be about having the shank 2 of the calf 11 that is associated with cotype (11), the moment that obtains as the ground opposite force application point vector of trying to achieve, with the apposition between the two (vector product) of passing through the ground opposite force vector that described ground opposite force estimating mechanism 36 tries to achieve at this shank 2 by described ground opposite force application point estimating mechanism 35.In addition, α ₂It is the angular acceleration that calculates the calf 11 that mechanism 34 tries to achieve by each of described shank angular acceleration.In addition, θ d is the angle of inclination of the calf 11 of trying to achieve by described shank posture calculation mechanism 28.In addition, ^T(F ₁X, F ₁Z) as previously mentioned, be the presumed value of the ground opposite force of trying to achieve by ground opposite force estimating mechanism 36.In addition, ^T(F ₂X, F ₂Z) be the opposite force of trying to achieve by described formula (10).And, moment of inertia I _G2Quality m with calf 11 ₂With data such as size all be by trying to achieve in advance, and by memory storage in arithmetic processing apparatus 16.

Therefore, affact moment M on the knee joint 10 ₂The data of the ground opposite force application point vector that can obtain, calculate the angular acceleration of the calf 11 that mechanism 34 obtains by each angular acceleration of described shank according to the data of the presumed value of the ground opposite force that obtains by ground opposite force estimating mechanism 36, by ground opposite force application point estimating mechanism 35 ₂The data, the joint opposite force of trying to achieve by described formula (10) of tilt angle theta d of data, the calf 11 that obtains by described shank posture calculation mechanism 28 ^T(F ₂X, F ₂The moment of inertia I of data z) and the calf that obtains in advance 11 _G2, size (Ld), center of gravity G2 position (t ₂) data, and try to achieve by described formula (11).

Moment M on the part of trying to achieve the knee joint 10 that affacts calf 11 as mentioned above like that ₂Afterwards, by the moment on the part of the hip joint 8 that carries out the processing same, find the solution affacting huckle 9 with the computing of joint moment estimating mechanism 37.Because the basic consideration method of this processing and the moment M that finds the solution knee joint 10 ₂Gimmick be same gimmick, so omit detailed diagram and explanation, but its summary description is as follows.

That is, at first, by according to following formula (12) (with the formula of described formula (10) same form), find the solution the joint opposite force on the part of the hip joint 8 that affacts huckle 9 about the equation of motion of the translational motion of the center of gravity G1 (with reference to Fig. 4) of huckle 9 ^T(F ₃X, F ₃Z).

^T(F ₃x，F ₃z)＝ ^T(F ₂x-m ₁·a ₁x，F ₂z-m ₁·a ₁z-m ₁·g)

……(12)

At this, ^T(F ₂X, F ₂Z) be the joint opposite force of the knee joint 10 of trying to achieve by described formula (10) in front.In addition, ^T(a ₁X, a ₁Z) be the acceleration (translational acceleration) of center of gravity G1 on absolute coordinate system Cf of the huckle 9 of trying to achieve by each acceleration calculation mechanism of 33 of described shank.In addition, m ₁Be the quality of the huckle 9 of trying to achieve in advance, g is an acceleration of gravity.

Then, by according to following formula (13) (with the formula of described formula (11) same form), find the solution the moment M on the part of the hip joint 8 that affacts huckle 9 about the equation of motion of the rotational motion of rotating around the center of gravity G1 of huckle 9 ₃

M ₃＝M ₂-I _G1·α ₁+F ₂x·t ₁’·cosθc-F ₂z·t ₁’·sinθc

+F ₃x·t ₁·cosθc-F ₃z·t ₁·sinθc

……(13)

At this, M ₂Be the moment of the knee joint 10 of trying to achieve by described formula (11), ^T(F ₂X, F ₂Z) be the joint opposite force of the knee joint 10 of trying to achieve by described formula (10), ^T(F ₃X, F ₃Z) be the joint opposite force of the hip joint 8 of trying to achieve by described formula (12), I _G1Be the moment of inertia that the center of gravity G1 around huckle 9 that tries to achieve in advance rotates, α ₁For calculating the angular acceleration of the huckle 9 that mechanism 34 tries to achieve by each of shank angular acceleration, θ c is the angle of inclination of the huckle 9 of trying to achieve by described shank posture calculation mechanism 28.t ₁For from the center of hip joint 8 to the distance (with reference to Fig. 4) the center of gravity G1 of huckle 9, t ₁' be that center from knee joint 10 is to the distance (Lc-t Fig. 4 the center of gravity G1 of huckle 9 ₁), these values all are to come established data according to the position of the center of gravity G1 that tries to achieve in advance and the size (length) of huckle 9.

Arithmetic processing apparatus 16 is in turn carried out processing discussed above in each cycle, and immediately infers the knee joint 10 that affacts the ground opposite force on each shank 2 or affact each shank 2 and the moment on the hip joint 8 successively.

In addition, though omitted detailed description in this manual, but the presumed value of the moment of knee joint 10 of being tried to achieve or hip joint 8 also for example can be applied in, in the control of the device of auxiliary people's 1 walking (comprising the motor etc. that can implement assist torque to knee joint 10 or hip joint 8).

Among Figure 12 to Figure 14 solid line exemplified is the time dependent situation of presumed value (specifically being meant the absolute value of the presumed value of this ground opposite force) of the ground opposite force of trying to achieve by foregoing arithmetic processing apparatus 16.In addition, among Figure 15 solid line exemplified is the time dependent situation of presumed value of the moment of the knee joint 10 of trying to achieve by the processing of arithmetic processing apparatus 16 and hip joint 8.At this, Figure 12 and Figure 15 exemplified is the example of people 1 when almost walking on the level land with certain speed, the example that Figure 13 exemplified when being the soaring step occasion of people 1, and Figure 14 exemplified is state on the being sitting in chair example when standing up occasion.This occasion, in Figure 12 to Figure 14, also with dashed lines has been drawn simultaneously and has been made tester firmly etc. and the comparative example of the actual ground opposite force that records (example when being equivalent to the actual value of ground opposite force).In addition, in Figure 15, also with dashed lines has been drawn simultaneously and have been used torque meter etc. and the comparative example of the moment of actual knee joint that records 10 and hip joint 8 (example when being equivalent to the actual value of moment of knee joint 10 and hip joint 8).

With reference to Figure 12 to Figure 14 as can be known,, can stick to the motion mode or the movement environment of shank 2, just can obtain the presumed value of high-precision ground opposite force according to present embodiment.In addition, in the present embodiment,, as shown in Figure 15, just can infer to degree of precision the moment of knee joint 10 and hip joint 8 by using the presumed value of this ground opposite force.

As mentioned above, according to present embodiment, not that the sensor of burden that will hinder people 1 walking and increase the motion of shank 2 again is installed on the shank 2, so-calledly be installed in the

angular transducer

22,23 on hip joint 8 and the knee joint 10 respectively or be installed in

rotary sensor

14,19 on the trunk 5 and the sensor of the more small-sized and light weight of

acceleration transducer

15,20,21 and so on and be to use, thus can be easily immediately to affacting the ground opposite force on each shank 2 or affacting the hip joint 8 of each shank 2 and the moment on the knee joint 10 infers.And, can stick to the motion mode or the movement environment of the shank 2 of the walking on the level land, the walking on the step etc., just can carry out it to degree of precision and infer.

In addition, in embodiment discussed above, though be that example is illustrated with the occasion that the present invention is suitable on the people 1,, the present invention also can be useful on the Bipedal robot as the Bipedal moving body.At this, on this Bipedal robot, though have the occasion that waist and chest become one and construct, but in this occasion, also the acceleration transducer of rotary sensor and fore-and-aft direction can be installed on either party of waist and chest, same with present embodiment, can infer the moment in the joint of ground opposite force and shank.In addition, on Bipedal robot, the angle of bend of knee joint and hip joint also can be held by the controlled quentity controlled variable of control device that the driver in these joints is controlled.

In addition, in the present embodiment, in order to judge the motion state of shank 2, though used the waist detection data of acceleration transducer 21 up and down with original state, but, replace this detection data, also for example can use, the acceleration a of the waist 3 on the absolute coordinate system Cf that tries to achieve by described benchmark acceleration measuring mechanism 27 ₀The value of the composition of (Z-direction) on vertical direction.

In sum, the present invention affacts the ground opposite force on the shank of moving body and the method for joint moment as assurance, can effectively be applied in the occasion of the auxiliary or walking control of the walking of the Bipedal moving body that carries out people or robot etc.

Claims

1. the ground opposite force presuming method of a Bipedal moving body is used for the ground opposite force on each shank that affacts the Bipedal moving body is inferred, it is characterized in that,

Have: the 1st step, the 1st step is: the motion state of judging the shank of described Bipedal moving body is to be in the single leg bearing state that has only one leg portion wherein to land, or the two leg bearing states that land of two legs portion; The 2nd step, the 2nd step is: when the position of centre of gravity of described Bipedal moving body is found the solution successively, also use the time series data when finding the solution this position of centre of gravity, the acceleration of this center of gravity that the absolute coordinate that is fixed with respect to ground is fastened is found the solution successively; And the 3rd step, the 3rd step is: under described two leg bearing states, near the position with respect to described center of gravity of the privileged site the bottom that is set in advance in each shank is found the solution successively at least;

When described Bipedal moving body is in single leg bearing state following time, based on following equation of motion, promptly, obtain the presumed value of the described ground opposite force on the shank that affacts in landing successively by the acceleration of the quality of Bipedal moving body, acceleration of gravity, described center of gravity and the equation of motion that affacts this represented center of gravity of described ground opposite force on the shank in landing;

When described Bipedal moving body was in for 2 leg bearing state following times, based on following equation of motion, promptly by the quality of Bipedal moving body, acceleration of gravity, the acceleration of described center of gravity, and the equation of motion that affacts this represented center of gravity of described ground opposite force on two shanks respectively, and following relational expression, and the presumed value that affacts the described ground opposite force on two shanks is respectively found the solution successively, and described relational expression is: the described ground opposite force that affacts on each shank of supposition is to do the time spent from the described privileged site of this shank towards described center of gravity direction, the position of the described relatively center of gravity of the privileged site of each shank and affact relational expression between the described ground opposite force on this shank.

2. ground according to claim 1 opposite force presuming method is characterized in that the privileged site of described each shank is the ankle of this shank.

3. ground according to claim 1 opposite force presuming method, it is characterized in that, have: the acceleration of bottom on above-below direction of the close hip joint of trunk carried out the step of instrumentation, and wherein said trunk is through the hip joint of each shank and be supported on described two shanks;

In described the 1st step, when the acceleration of the bottom of described trunk on above-below direction rises to predefined defined threshold when above, it then is the beginning of described two leg bearing states, and be again the end of described single leg bearing state simultaneously, in addition under described two leg bearing states, the presumed value of the described ground opposite force on affacting that side shank of wanting earlier built on stilts is reduced to predefined defined threshold when following, it then is the end of described two leg bearing states, and be again the beginning of described single leg bearing state simultaneously, judge the motion state of described Bipedal moving body with this.

4. ground according to claim 1 opposite force presuming method, it is characterized in that, have: the step of respectively angle of inclination, angle of bend and acceleration being carried out instrumentation, wherein, described angle of inclination is meant the angle of inclination that is supported in the trunk on described two shanks through the hip joint of each shank, what described angle of bend was meant each shank is hip joint and kneed angle of bend separately at least, and described acceleration is meant and is set in advance in the acceleration that the datum mark on the described Bipedal moving body is fastened in described absolute coordinate;

In described the 2nd step, angle of inclination based on described trunk, described hip joint and kneed angle of bend separately, the rigid body interlock model of described Bipedal moving body being represented with the union body of a plurality of rigid bodies and obtaining, the corresponding portion of each rigid body quality of that try to achieve in advance and the corresponding Bipedal moving body of each rigid body this rigid body interlock model, and the position of centre of gravity of this rigid body correspondence portion in the rigid body correspondence portion of trying to achieve in advance, and the position of centre of gravity with respect to the described Bipedal moving body of described datum mark is found the solution successively, and the time series data when finding the solution its position of centre of gravity also simultaneously, find the solution acceleration successively with respect to this center of gravity of its datum mark, and according to this center of gravity acceleration with respect to its datum mark, and the acceleration of this datum mark of fastening of described absolute coordinate, find the solution the described center of gravity acceleration that this absolute coordinate is fastened.

5. ground according to claim 4 opposite force presuming method is characterized in that, described datum mark is set on the described trunk.

6. ground according to claim 4 opposite force presuming method, it is characterized in that, described trunk has the waist that is linked to described two shanks through hip joint and can tilt and be in chest on this waist with respect to this waist, for the angle of inclination of finding the solution the described trunk that described position of centre of gravity uses refers to described waist and chest angle of inclination separately.

7. ground according to claim 6 opposite force presuming method, it is characterized in that described rigid body interlock model is to represent the model that forms with rigid body with being in huckle, the described waist between calf, this knee joint and the described hip joint of knee joint downside of each shank of described Bipedal moving body and being in the upside of this waist and including described chest respectively in interior upper body.

8. the joint moment presuming method of a Bipedal moving body, the ground opposite force presuming method that use is put down in writing by the 1st of right request and the presumed value about the ground opposite force of described each shank of trying to achieve successively, and the moment at least one joint of each shank of affacting described Bipedal moving body is inferred, it is characterized in that

Have following steps, that is, respectively to through the hip joint of each shank and be supported on the angle of inclination, each shank of the trunk on described two shanks be at least hip joint and kneed separately angle of bend and be set in advance in the step that acceleration that the datum mark on the described Bipedal moving body fastens in described absolute coordinate carries out instrumentation;

Based on the hip joint of the angle of inclination of described trunk, described each shank and kneed separately angle of bend and described Bipedal moving body represented with the union body of a plurality of rigid bodies and the rigid body interlock model that obtains, and to this rigid body interlock model on the step found the solution successively of the angle of inclination of each corresponding portion of rigid body of the corresponding Bipedal moving body of each rigid body;

Position of centre of gravity based on this rigid body correspondence portion in the quality of the angle of inclination of described each rigid body correspondence portion, each rigid body correspondence portion of trying to achieve in advance and each rigid body correspondence portion of trying to achieve in advance, and the position of centre of gravity with respect to each rigid body correspondence portion of described datum mark is found the solution successively, and the time series data during simultaneously also based on the position of centre of gravity of finding the solution each rigid body correspondence portion, and step to finding the solution successively with respect to the center of gravity acceleration of each rigid body correspondence portion of this datum mark;

According to respect to the center of gravity acceleration of each rigid body correspondence portion of this datum mark and the described datum mark acceleration that described absolute coordinate is fastened, and the step that the center of gravity acceleration of each rigid body correspondence portion that this absolute coordinate is fastened is found the solution successively;

Time series data during based on the angle of inclination of finding the solution described each rigid body correspondence portion, and the step that the angular acceleration of each rigid body correspondence portion is found the solution successively;

Based on as in these two angles of kneed angle of bend of the angle of inclination of the huckle of each shank of the rigid body correspondence portion of described Bipedal moving body and this shank at least one, and the step that the estimated position of the ground opposite force application point of each shank on this Bipedal moving body is found the solution successively;

Use the presumed value of described ground opposite force, the estimated position of described ground opposite force application point, the center of gravity acceleration of each rigid body correspondence portion that described absolute coordinate is fastened and the angular acceleration of this rigid body correspondence portion, the angle of inclination of each rigid body correspondence portion, the quality and the size of each rigid body correspondence portion of trying to achieve in advance, the position of centre of gravity of this rigid body correspondence portion in each rigid body correspondence portion of trying to achieve in advance, and the moment of inertia of each rigid body correspondence portion of trying to achieve in advance, and based on inverse dynamics model, and the moment at least one joint of each shank of affacting described Bipedal moving body is inferred.

9. the joint moment presuming method of a Bipedal moving body, the ground opposite force presuming method that use is put down in writing by the 4th of right request and the presumed value about the ground opposite force of described each shank of trying to achieve successively, and the moment at least one joint of each shank of affacting described Bipedal moving body is inferred, it is characterized in that

Have following steps, promptly, based on the hip joint of the angle of inclination of described trunk, described each shank and kneed separately angle of bend and described rigid body interlock model, and the step to finding the solution successively in the angle of inclination that described absolute coordinate is fastened with the corresponding portion of each rigid body of the corresponding Bipedal moving body of each rigid body of this rigid body interlock model;

Based on the quality of the angle of inclination of described each rigid body correspondence portion, each rigid body correspondence portion of trying to achieve in advance and the position of centre of gravity of this rigid body correspondence portion in each rigid body correspondence portion, and the position of centre of gravity with respect to each rigid body correspondence portion of described datum mark is found the solution successively, and the time series data during simultaneously also based on the position of centre of gravity of finding the solution each rigid body correspondence portion, and step to finding the solution successively with respect to the center of gravity acceleration of each rigid body correspondence portion of this datum mark;

According to respect to the center of gravity acceleration of each rigid body correspondence portion of this datum mark and the acceleration of the described datum mark that described absolute coordinate is fastened, and the step that the center of gravity acceleration of each rigid body correspondence portion that this absolute coordinate is fastened is found the solution successively;